# Copyright 2019 Canonical Ltd
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

import contextlib
import os
import sys
import time
import unittest
import xmlrpc

from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch.actions import RegisterEventHandler
from launch.actions import ResetEnvironment
from launch.actions import SetEnvironmentVariable
from launch.event_handlers import OnShutdown
from launch_ros.actions import Node
import launch_testing
import launch_testing.actions
import launch_testing.asserts
import launch_testing.markers
import launch_testing.tools
from launch_testing_ros.actions import EnableRmwIsolation
import launch_testing_ros.tools

import pytest

import rclpy
from rclpy.utilities import get_available_rmw_implementations
from ros2cli.helpers import get_rmw_additional_env

from ros2cli.node.strategy import NodeStrategy

TEST_NODE = 'test_node'
TEST_NAMESPACE = '/foo'

TEST_TIMEOUT = 20.0

EXPECTED_PARAMETER_FILE = (
    f'{TEST_NAMESPACE}/{TEST_NODE}:\n'
    '  ros__parameters:\n'
    '    bool_array_param:\n'
    '    - false\n'
    '    - false\n'
    '    - true\n'
    '    bool_param: true\n'
    '    double_array_param:\n'
    '    - 3.125\n'
    '    - 6.25\n'
    '    - 12.5\n'
    '    double_param: 1.23\n'
    '    foo:\n'
    '      bar:\n'
    '        str_param: foobar\n'
    '      str_param: foo\n'
    '    int_array_param:\n'
    '    - 1\n'
    '    - 2\n'
    '    - 3\n'
    '    int_param: 42\n'
    '    start_type_description_service: true\n'
    '    str_array_param:\n'
    '    - foo\n'
    '    - bar\n'
    '    - baz\n'
    '    str_param: Hello World\n'
    '    use_sim_time: false\n'
)

# Skip cli tests on Windows while they exhibit pathological behavior
# https://github.com/ros2/build_farmer/issues/248
if sys.platform.startswith('win'):
    pytest.skip(
            'CLI tests can block for a pathological amount of time on Windows.',
            allow_module_level=True)


@pytest.mark.rostest
@launch_testing.parametrize('rmw_implementation', get_available_rmw_implementations())
def generate_test_description(rmw_implementation):
    path_to_fixtures = os.path.join(os.path.dirname(__file__), 'fixtures')
    additional_env = get_rmw_additional_env(rmw_implementation)
    set_env_actions = [SetEnvironmentVariable(k, v) for k, v in additional_env.items()]

    # Parameter node test fixture
    path_to_parameter_node_script = os.path.join(path_to_fixtures, 'parameter_node.py')
    parameter_node = Node(
        executable=sys.executable,
        name=TEST_NODE,
        namespace=TEST_NAMESPACE,
        arguments=[path_to_parameter_node_script],
    )

    return LaunchDescription([
        # TODO(jacobperron): Provide a common RestartCliDaemon launch action in ros2cli
        ExecuteProcess(
            cmd=['ros2', 'daemon', 'stop'],
            name='daemon-stop',
            on_exit=[
                *set_env_actions,
                EnableRmwIsolation(),
                RegisterEventHandler(OnShutdown(on_shutdown=[
                    # Stop daemon in isolated environment with proper ROS_DOMAIN_ID
                    ExecuteProcess(
                        cmd=['ros2', 'daemon', 'stop'],
                        name='daemon-stop-isolated',
                        # Use the same isolated environment
                        additional_env=dict(additional_env),
                    ),
                    # This must be done after stopping the daemon in the isolated environment
                    ResetEnvironment(),
                ])),
                ExecuteProcess(
                    cmd=['ros2', 'daemon', 'start'],
                    name='daemon-start',
                    on_exit=[
                        parameter_node,
                        launch_testing.actions.ReadyToTest(),
                    ],
                )
            ]
        ),
    ])


class TestVerbDump(unittest.TestCase):

    @classmethod
    def setUpClass(
        cls,
        launch_service,
        proc_info,
        proc_output,
        rmw_implementation
    ):
        rmw_implementation_filter = launch_testing_ros.tools.basic_output_filter(
            filtered_rmw_implementation=rmw_implementation
        )

        @contextlib.contextmanager
        def launch_param_dump_command(self, arguments):
            param_dump_command_action = ExecuteProcess(
                cmd=['ros2', 'param', 'dump', *arguments],
                name='ros2param-dump-cli',
                output='screen'
            )
            with launch_testing.tools.launch_process(
                launch_service, param_dump_command_action, proc_info, proc_output,
                output_filter=rmw_implementation_filter
            ) as param_dump_command:
                yield param_dump_command
        cls.launch_param_dump_command = launch_param_dump_command

    def setUp(self):
        # Ensure the daemon node is running and discovers the test node
        start_time = time.time()
        timed_out = True
        with NodeStrategy(None) as node:
            while (time.time() - start_time) < TEST_TIMEOUT:
                # TODO(jacobperron): Create a generic 'CliNodeError' so we can treat errors
                #                    from DirectNode and DaemonNode the same
                try:
                    services = node.get_service_names_and_types_by_node(TEST_NODE, TEST_NAMESPACE)
                except rclpy.node.NodeNameNonExistentError:
                    continue
                except ConnectionRefusedError:
                    continue
                except xmlrpc.client.Fault as e:
                    if 'NodeNameNonExistentError' in e.faultString:
                        continue
                    raise

                service_names = [name_type_tuple[0] for name_type_tuple in services]
                if (
                    len(service_names) > 0
                    and f'{TEST_NAMESPACE}/{TEST_NODE}/get_parameters' in service_names
                ):
                    timed_out = False
                    break
        if timed_out:
            self.fail(f'CLI daemon failed to find test node after {TEST_TIMEOUT} seconds')

    def _output_file(self):
        return f'{TEST_NAMESPACE}/{TEST_NODE}'.lstrip('/').replace('/', '__') + '.yaml'

    def test_verb_dump_invalid_node(self):
        with self.launch_param_dump_command(arguments=['invalid_node']) as param_dump_command:
            assert param_dump_command.wait_for_shutdown(timeout=TEST_TIMEOUT)
        assert param_dump_command.exit_code != launch_testing.asserts.EXIT_OK
        assert launch_testing.tools.expect_output(
            expected_lines=['Node not found'],
            text=param_dump_command.output,
            strict=True
        )
        with self.launch_param_dump_command(
            arguments=[f'invalid_ns/{TEST_NODE}']
        ) as param_dump_command:
            assert param_dump_command.wait_for_shutdown(timeout=TEST_TIMEOUT)
        assert param_dump_command.exit_code != launch_testing.asserts.EXIT_OK
        assert launch_testing.tools.expect_output(
            expected_lines=['Node not found'],
            text=param_dump_command.output,
            strict=True
        )

    def test_verb_dump(self):
        with self.launch_param_dump_command(
            arguments=[f'{TEST_NAMESPACE}/{TEST_NODE}']
        ) as param_dump_command:
            assert param_dump_command.wait_for_shutdown(timeout=TEST_TIMEOUT)
        assert param_dump_command.exit_code == launch_testing.asserts.EXIT_OK
        assert launch_testing.tools.expect_output(
            expected_text=EXPECTED_PARAMETER_FILE + '\n',
            text=param_dump_command.output,
            strict=False
        )
